Hugging Face's logo

Datasets:
Project-Rosey
/
piper_joint_640_480_pick_pooh_0530

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
piper
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
30.1
frame_index
int64
0
903
episode_index
int64
0
4
index
int64
0
4.31k
task_index
int64
0
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0
0
0
0
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.033333
1
0
1
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.066667
2
0
2
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.1
3
0
3
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.133333
4
0
4
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.166667
5
0
5
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.2
6
0
6
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.233333
7
0
7
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.266667
8
0
8
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.3
9
0
9
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.333333
10
0
10
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.366667
11
0
11
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.4
12
0
12
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.433333
13
0
13
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.466667
14
0
14
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.5
15
0
15
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.533333
16
0
16
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.566667
17
0
17
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.6
18
0
18
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.633333
19
0
19
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.666667
20
0
20
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.7
21
0
21
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.733333
22
0
22
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.766667
23
0
23
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.8
24
0
24
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.833333
25
0
25
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.866667
26
0
26
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.9
27
0
27
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.933333
28
0
28
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
0.966667
29
0
29
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1
30
0
30
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.033333
31
0
31
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.066667
32
0
32
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.1
33
0
33
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.133333
34
0
34
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.166667
35
0
35
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.2
36
0
36
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.233333
37
0
37
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.266667
38
0
38
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.3
39
0
39
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.333333
40
0
40
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.366667
41
0
41
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.4
42
0
42
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.433333
43
0
43
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.466667
44
0
44
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.5
45
0
45
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.533333
46
0
46
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.566667
47
0
47
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.6
48
0
48
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.633333
49
0
49
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.666667
50
0
50
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.7
51
0
51
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.733333
52
0
52
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.766667
53
0
53
0
[ 0, 0.002725524827837944, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
1.8
54
0
54
0
[ 0, 0.008882446214556694, 0, 0, 0, 0, 0 ]
[ 0, 42, 0, 0, 0, 0, 0 ]
1.833333
55
0
55
0
[ 0, 0.012353057973086834, 0, 0, 0, 0, 0 ]
[ 0, 246, 0, 0, 0, 0, 0 ]
1.866667
56
0
56
0
[ 0, 0.019372710958123207, 0, 0, 0, 0, 0 ]
[ 0, 476, 0, 0, 0, 0, 0 ]
1.9
57
0
57
0
[ 0, 0.026392364874482155, 0, 0, 0, 0, 0 ]
[ 0, 697, 0, 0, 0, 0, 0 ]
1.933333
58
0
58
0
[ 0, 0.029941406100988388, 0, 0, 0, 0, 0 ]
[ 0, 956, 0, 0, 0, 0, 0 ]
1.966667
59
0
59
0
[ 0, 0.03349044919013977, 0, 0, 0, 0, 0 ]
[ 0, 1402, 0, 0, 0, 0, 0 ]
2
60
0
60
0
[ 0, 0.03715713322162628, 0, 0, 0, 0, 0 ]
[ 0, 1632, 0, 0, 0, 0, 0 ]
2.033333
61
0
61
0
[ 0, 0.04456894099712372, 0, 0, 0, 0, 0 ]
[ 0, 1830, 0, 0, 0, 0, 0 ]
2.066667
62
0
62
0
[ 0, 0.04827484115958214, 0, 0, 0, 0, 0 ]
[ 0, 1977, 0, 0, 0, 0, 0 ]
2.1
63
0
63
0
[ 0, 0.055686645209789276, 0, 0, 0, 0, 0 ]
[ 0, 2155, 0, 0, 0, 0, 0 ]
2.133333
64
0
64
0
[ 0, 0.06309845298528671, 0, 0, 0, 0, 0 ]
[ 0, 2591, 0, 0, 0, 0, 0 ]
2.166667
65
0
65
0
[ 0, 0.06680434942245483, 0, 0, 0, 0, 0 ]
[ 0, 2947, 0, 0, 0, 0, 0 ]
2.2
66
0
66
0
[ 0, 0.07421615719795227, 0, 0, 0, 0, 0 ]
[ 0, 3142, 0, 0, 0, 0, 0 ]
2.233333
67
0
67
0
[ 0, 0.08162795752286911, 0, 0, 0, 0, 0 ]
[ 0, 3546, 0, 0, 0, 0, 0 ]
2.266667
68
0
68
0
[ 0, 0.08533386141061783, 0, 0, 0, 0, 0 ]
[ 0, 3970, 0, 0, 0, 0, 0 ]
2.3
69
0
69
0
[ 0, 0.08903976529836655, 0, 0, 0, 0, 0 ]
[ 0, 4250, 0, 0, 0, 0, 0 ]
2.333333
70
0
70
0
[ 0, 0.09645156562328339, 0, 0, 0, 0, 0 ]
[ 0, 4768, 0, 0, 0, 0, 0 ]
2.366667
71
0
71
0
[ 0, 0.10386337339878082, 0, 0, 0, 0, 0 ]
[ 0, 5042, 0, 0, 0, 0, 0 ]
2.4
72
0
72
0
[ 0, 0.11127517372369766, 0, 0, 0, 0, 0 ]
[ 0, 5255, 0, 0, 0, 0, 0 ]
2.433333
73
0
73
0
[ 0, 0.11498107761144638, 0, 0, 0, 0, 0 ]
[ 0, 5605, 0, 0, 0, 0, 0 ]
2.466667
74
0
74
0
[ 0, 0.12239288538694382, 0, 0, 0, 0, 0 ]
[ 0, 5980, 0, 0, 0, 0, 0 ]
2.5
75
0
75
0
[ 0, 0.12980468571186066, 0, 0, 0, 0, 0 ]
[ 0, 6593, 0, 0, 0, 0, 0 ]
2.533333
76
0
76
0
[ 0, 0.1372164934873581, 0, 0, 0, 0, 0 ]
[ 0, 7095, 0, 0, 0, 0, 0 ]
2.566667
77
0
77
0
[ 0, 0.1409223973751068, 0, 0, 0, 0, 0 ]
[ 0, 7440, 0, 0, 0, 0, 0 ]
2.6
78
0
78
0
[ 0, 0.14833420515060425, 0, 0, 0, 0, 0 ]
[ 0, 7880, 0, 0, 0, 0, 0 ]
2.633333
79
0
79
0
[ 0, 0.1557459980249405, 0, 0, 0, 0, 0 ]
[ 0, 8101, 0, 0, 0, 0, 0 ]
2.666667
80
0
80
0
[ 0, 0.1594519019126892, 0, 0, 0, 0, 0 ]
[ 0, 8339, 0, 0, 0, 0, 0 ]
2.7
81
0
81
0
[ 0, 0.16315780580043793, 0, 0, 0, 0, 0 ]
[ 0, 8645, 0, 0, 0, 0, 0 ]
2.733333
82
0
82
0
[ 0, 0.16686370968818665, 0, 0, 0, 0, 0 ]
[ 0, 9240, 0, 0, 0, 0, 0 ]
2.766667
83
0
83
0
[ 0, 0.17427551746368408, 0, 0, 0, 0, 0 ]
[ 0, 9505, 0, 0, 0, 0, 0 ]
2.8
84
0
84
0
[ 0, 0.18168731033802032, 0, 0, 0, 0, 0 ]
[ 0, 9696, 0, 0, 0, 0, 0 ]
2.833333
85
0
85
0
[ 0, 0.18539321422576904, 0, 0, 0, 0, 0 ]
[ 0, 9993, 0, 0, 0, 0, 0 ]
2.866667
86
0
86
0
[ 0, 0.19280502200126648, 0, 0, 0, 0, 0 ]
[ 0, 10278, 0, 0, 0, 0, 0 ]
2.9
87
0
87
0
[ 0, 0.20021682977676392, 0, 0, 0, 0, 0 ]
[ 0, 10601, 0, 0, 0, 0, 0 ]
2.933333
88
0
88
0
[ 0, 0.20392273366451263, 0, 0, 0, 0, 0 ]
[ 0, 10978, 0, 0, 0, 0, 0 ]
2.966667
89
0
89
0
[ 0, 0.211060032248497, 0, 0, 0, 0, 0 ]
[ 0, 11255, 0, 0, 0, 0, 0 ]
3
90
0
90
0
[ 0, 0.21670715510845184, 0, 0, 0, 0, 0 ]
[ 0, 11577, 0, 0, 0, 0, 0 ]
3.033333
91
0
91
0
[ 0, 0.21951110661029816, 0, 0, 0, 0, 0 ]
[ 0, 11879, 0, 0, 0, 0, 0 ]
3.066667
92
0
92
0
[ 0, 0.22511902451515198, 0, 0, 0, 0, 0 ]
[ 0, 12237, 0, 0, 0, 0, 0 ]
3.1
93
0
93
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 12477, 0, 0, 0, 0, 0 ]
3.133333
94
0
94
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 12674, 0, 0, 0, 0, 0 ]
3.166667
95
0
95
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 12835, 0, 0, 0, 0, 0 ]
3.2
96
0
96
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 13142, 0, 0, 0, 0, 0 ]
3.233333
97
0
97
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 13252, 0, 0, 0, 0, 0 ]
3.266667
98
0
98
0
[ 0, 0.2307269275188446, 0, 0, 0, 0, 0 ]
[ 0, 13252, 0, 0, 0, 0, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "piper",
    "total_episodes": 5,
    "total_frames": 4309,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_joint_1",
                "main_joint_2",
                "main_joint_3",
                "main_joint_4",
                "main_joint_5",
                "main_joint_6",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_joint_1",
                "main_joint_2",
                "main_joint_3",
                "main_joint_4",
                "main_joint_5",
                "main_joint_6",
                "main_gripper"
            ]
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
7
License:
apache-2.0
Size of downloaded dataset files:
169 kB
Size of the auto-converted Parquet files:
169 kB
Number of rows:
4,309